Abstract: A control method for a servo system capable of adjusting softness to provide a robot with a soft floating function for each axis of a rectangular coordinate system. A force (Fx, Fy, Fz) acting on a tool center point in the rectangular coordinate system .SIGMA..sub.0 is obtained using a position error in the rectangular coordinate system .SIGMA..sub.0 and set parameters (Kx, Ky, Kz). The obtained force (Fx, Fy, Fz) is transformed into data (Fx.sup.(n+1), Fy.sup.(n+1), Fz.sup.(n+1)) in a tool coordinate system .SIGMA..sub.n+1, using posture data of the robot. Further, according to the Newton-Euler method, premising (Fx.sup.(n+1), Fy.sup.(n+1), Fz.sup.(n+1) =(fx.sup.(n+1), fy.sup.(n+1), fz.sup.(n+1), a torque Ti for each axis is calculated to obtain an input value Ei=Ti/(Kp.multidot.Kv) for a position loop.

Abstract: There is provided by the present invention a numerical control apparatus comprising a means for deciding a spline curve by repeating approximation of a tangential vector for an instructed point by required times according to the necessity, a means for controlling a speed by estimated a radius curvature of the decided spline curve, and a means for interpolating a speed on the decided spline curve.

Abstract: A coating apparatus for coating liquid-form material to be solidified as an elastomer on a coated member in order to form a seal member for preventing toner leakage, includes an injection member for injecting the liquid-form material on the coated member, a holder for holding the coated member, a driver for causing relative movement between the injection member and the holder, and a controller for controlling the driver to change the relative movement between the injection member and the holder.

Abstract: An apparatus for preparing NC data is used in machining an involute curve on a workpiece by relatively moving a tool and the workpiece along mutually perpendicular first and second axes encompassed within a plane while relatively rotating the tool and the workpiece about a third axis which is perpendicular to the plane. In the apparatus, there is provided involute curve definition devie defines the involute curve based upon input parameters, machining point calculation means calculates a series of machining points on the involute curve, and tangential line calculation device calculates a tangential line which connects the involute curve at each of the machining points.

Abstract: A numerical control apparatus for controlling a cutting machine for cutting a workpiece according to a predetermined tool path wherein the tool path is defined relative to a coordinate system by a cutting program. The numerical control apparatus includes circuitry for generating data representing a coordinate system guide and a graphic display device for displaying the coordinate system guide so that a program designer can determine whether the tool path is defined relative to a desired coordinate system.

Abstract: An area machining method capable of generating tool paths with no insufficient cut portion. First, a part profile contour indicating a profile contour for area machining and various machining conditions such as tool radius, depth of cut and the like are preset. Then the outmost offset contour and other subsequent offset contours are obtained, the outmost offset contour being offset along the part profile contour by an amount of the sum of a tool radius and finishing allowance, and the other subsequent offset contours being offset repeatedly from the outmost offset contour in sequence by an amount of depth of cut in the inside direction. Next, contours of insufficient cut portions which are produced between adjacent offset contours are obtained. Subsequently, tool paths each of which connects between offset contours and between an offset contour and a corresponding insufficient cut portion contour are outputted.

Abstract: Disclosed is a servo control method and apparatus for use on discharging machines to control the discharging conditions on working piece. In conventional art, feedrate control is based on the average of the discharging voltage between the discharging electrode and the working piece, which takes the off-time period into account; and in the condition of a long off-time period, the average voltage will be lowered as to affect the stability of the discharging process. The servo control method and apparatus according to the present invention disregards the off-time period and takes only the ignition voltage and discharging voltage into account such that the stability of the discharging machine will not be affected. Furthermore, during discharging, the servo control method and apparatus is capable of detecting whether there is a short-circuit condition and adjusting the average voltage accordingly so as to quickly remove the discharging electrode from the working piece.

Abstract: An area machining method for efficiently hollowing out an area which contains a part of an outline of a workpiece is disclosed. An outward offset line is set outside the workpiece with a predetermined offset distance. Then a series of offset contours (i.e., the elements of the tool path) are defined within the region between the outward offset line and the final part contour. Since the offset distance to the outward offset line is set zero, all the offset contours share a segment of the outward offset line. Except for this common segment, the offset contours are given a cutting feedrate.

Abstract: A vision system for controlling welding robots and a method of controlling a welding robot using a vision system are disclosed. The vision system includes an ordinary unoriented light source, such as a fluorescent light source, to illuminate a part to be welded so that a light intensity gradient is created along a seam to be welded. An image of the light intensity gradient is captured by one or more fixed solid-state video cameras. The image is compared with a stored image of a reference part so that a deviation of the seam to be welded with respect to the seam of the reference part can be computed for each of a plurality of predefined reference points. The deviation at each reference point is translated by a microprocessor into a coordinate adjustment which is downloaded to a controller for the robot.

Abstract: The invention relates to a method for verifying the performance accuracy of an NC machine by comparing a desired circular path with the actual circular path describing the actual movement of the machine and used in an NC machine having at least two servo control loops each of which is provided with an axis actuator for guiding a carrier in accordance with a position reference signal describing the desired movement path, and a path measuring system to record and feed back the position of the carrier. In this case, the actual circular path R.sub.M is formed from the position signals (x.sub.M) supplied by the path measuring system (33, 43) and, preferably, each of the position signals (x.sub.M) measured by the path measuring system (33, 43) is compared with the associated position reference signal (w.sub.NC).

Abstract: A numerical control apparatus for controlling a machine tool to simply and accurately cyclically machine a workpiece. When the operator enters graphic data such as circular or rectangular graphic data in an interactive fashion from a keyboard or the like according to guidance information displayed on a display unit, a graphic data memory device stores the entered graphic data. A converting device calculates a machining path for cyclically machining a workpiece based on the graphic data and converts the machining path into NC commands, which are then stored in an NC command memory device. An interpolating device outputs an interpolated pulse signal to move the machine tool along the cyclic machining path based on a pulse signal from a manual pulse generator or a jog feed button on a machine control console. By freely operating the machine control console, the operator can easily and accurately effect cyclic machining on a workpiece while confirming a machined status.

Abstract: A numerical control apparatus which reduces a cycle time by executing the movement command of a next block without temporarily stopping the movement of a workpiece even if a skip signal is input. Upon receiving the skip signal SS output from a sensing device, a skip signal sensing device determines the present position of the workpiece, stores the position in a memory device and outputs a skip completion signal AS. Then, an acceleration/deceleration distribution device carries out pulse interpolation of a present block and outputs a distribution completion signal ES on the completion of the movement. Further, a preprocessing distribution device, having received the skip completion signal AS, determines an amount of movement of a next block from the present position of the workpiece and preprocesses the next block of the machining program.

Abstract: There is disclosed a device for the duplication of irregular shapes that must be reproduced on a surface but cannot be traced directly on the surface. The device includes a stylus, a length of chain or the like attached to the stylus, and a duplicator attached to the other end of the chain. The duplicator contains a programmable memory, such as a RAM chip, and servo-type motor to vary the length of the chain as the program is run.

Abstract: A method of moving a cutter blade along a contour defined by a plurality of segments each connected end to end with one another and having at least one angle disposed between consecutively ordered segments calculates a distance from a corner point along one and another line segments and fits an arc to be followed by the blade between the line segments for eliminating repeated high force short time system inputs and replacing them with lower force longer duration inputs to affect the reduction and mechanical wear and the reduction of shocks to the system. The method further includes a process by which individual velocity profiles are determined for each contour in order to run the system at maximum velocity at all times during the course of a cutting operation.

Abstract: A numerical control device is arranged to calculate offset curves and generate signals for the movement of tools along the offset curves. The offset curves are derived from contour data, preferably in the form of cubic splines, describing the shape of a workpiece to be machined and from an offset value. By using Hermite's formula for approximation of the offset curves by splines, the number of spline segments is minimized while limiting the deviation between the splines and the offset curve to a preset tolerance value. Even when using moderate computing power, the calculation of the splines will in most circumstances be fast enough to be performed on-line without slowing down the throughput of the machining apparatus.

Abstract: A machining-error of a non-circular shape machining apparatus is corrected by controlling a movement of a tool which is synchronous with a rotation of a workpiece. A position of the tool is detected when the tool is according to a command position which is coincident with or close to a target position of the tool. At least an amplitude ratio and a phase difference of an amplitude ratio, a phase difference, and an offset difference between the target position and the detected position; is obtained. At least a process of increases and/or reducing the command position and a process of phase shift of the process for increasing and/or reducing the command position on the basis of the amplitude ratio, a process for shifting a phase on the basis of the phase difference, and a process for changing an offset of the command position on the basis of the offset difference are performed, whereby a first corrected command position is obtained.

Abstract: In an numerical control machining system, a plurality of parts on a work are cut into predetermined shapes with one cutting tool by moving back and forth the cutting tool a plurality of times for each part to be cut. When determining a tool running path, a cutting trajectory of the cutting tool for each of the parts is obtained, all the end points of the cutting trajectory which can be a tool inlet end or a tool outlet end for each of the parts are stored, the part the cutting trajectory for which has an end point which is the nearest to the tool outlet end of the cutting trajectory for one of the parts as measured along the path of movement of the tool is determined to be the part to be cut next, and said nearest end point is determined to be the tool inlet end of the cutting trajectory for the part to be cut next.

Abstract: A method for generating tool paths for a profile milling task uses straight line (lacing) tool paths toward and away from the exterior boundary of a part to cover a first inset of a machining region. Recess areas which are difficult to reach with straight line access are blocked off, algorithmically, and closed loop tool paths are used for these regions. The remainder of the machining region having relatively regular boundaries are covered with lacing tool paths which are line segments followed by an arc following the part contour. Lacing eliminates the need for predrilling and takes advantage of the fact that most tools perform better when following straight paths. Information supplied by means of charts that assure the safety of milling successive tool paths without retraction, coupled with retraction requirements (also supplied), provide the parameters needed for automated optimal milling.

Abstract: A computer-based system and method is provided for positioning a cutter tool to an edge of a solid model in a computer aided manufacturing environment. A shortest distance and direction required to position the machine tool cutter to the edge of the solid model is determined. Edges are defined as three dimensional space curves. The machine tool cutter is defined as a convex envelope. Using the space curve definition, the cutter location, and the center axis of rotation for the cutter, computations are executed to determine a directional vector and distance such that moving the cutter along the vector for the prescribed distance will cause it to be in contact with the curve. Adjustments are available which cause the cutter to travel to offsets from the curve, including aligning the front of the cutter to the curve, the end of the cutter on the curve, or the back of the cutter past the curve.

Abstract: A tracing control system prevents a cutter head from biting into a workpiece at all times irrespective of a tracing speed. The cutter head moves to machine the workpiece based on displacements of a stylus on a tracer head (41) along respective axes. The tracer head (41) is actuated along tracing axes independently of the cutter head by motors (31) different from the cutter head. A calculating unit (6) calculates the actual position of the tracer head (41). Based on the actual position of the tracer head (41) and the displacements of the stylus along the respective axes, speed commands for the center of a cutter of the cutter head are corrected by a correcting unit (7) so as to correspond to the displacements of the stylus with respect to the tracer head (41). The central position of the cutter head is thus controlled at all times in conformity with the central position of the stylus.

Abstract: A coordinate positioning machine is equipped with either an optical probe or a contact measuring probe. Movement of the head of the machine to enable the probe to scan an unknown surface is controlled by predicting the position of a subsequent point to which the head of the machine is to be driven upon the basis of three most recently measured points, P.sub.1, P.sub.2, P.sub.3. The prediction of the subsequent point P.sub.4 is performed by machine control in real time.

Abstract: When a non-contact tracing of a configuration of a three-dimensional model is carried out, the measurement axis of a tracer head is controlled to always be facing in an optimum direction with respect to a model surface by controlling the attitude of the tracer head, to thereby create tracing data of the configuration of the model. The tracer head is provided with two non-contact distance sensing units, and a normal vector of the model surface is determined based on a measurement value obtained by sampling tracing data supplied from the tracer head. At this time, the direction of a normal vector is determined from the outer product of surface vectors in a range in which the angle between an axial vector starting from a measurement point of the measurement axis of the tracer head and the normal vector at the measurement point does not exceed 90.degree.. The tracer head is controlled to be rotated in the direction toward a projection obtained by projecting the normal vector on a predetermined plane.

Abstract: In a method for generating data defining the machining depth along a tool path, grid points are generated according to split points indicating a form of a model, and rough machining data for contour milling is generated according to the grid points, so that rough machining data which presents overcutting can be prepared. Contour points are generated and drilling points are set according to a comparison with cut planes so that the drilling points can be set easily and automatically. The contour points are retrieved successively so as to easily generate a tool path for contour milling.

Abstract: A tool path drawing method which facilitates confirmation of the movement of a tool associated with three-dimensional machining, comprising steps of drawing, for example, a cylindrical workpiece figure (1) in a perspective view on a display screen (25a), in accordance with workpiece configuration data originated on the basis of an input part program statement as a figure definition statement, and displaying a YZ coordinate system, drawing a tool path (7) associated with machining on the workpiece peripheral surface on the display screen in accordance with NC data originated on the basis of an input part program statement as a motion definition statement, and at the same time, drawing another tool path (8), obtained by developing the foregoing tool path on the YZ plane, on the same display screen. An operator can easily confirm the movement of the tool with reference to both the tool path (7) based on the machining conditions and the tool path (8) based on a machining drawing.

Abstract: A curved surface generation method well-suited for application to the preparation of a numerical control tape used in the numerically controlled machining of a three-dimensional body such as a three-dimensional mold. The surface creation method includes steps of defining, on a first section curve or reference curve of a three-dimensional curved body, a point Pi (i=1,2 . . . ) which corresponds to a point Qi (i=1,2 . . . ) on a second section curve or reference curve, and generating an intermediate section curve in accordance with the established correspondence. A curved surface is created by collecting a plurality of the intermediate section curves together. Accordingly, the invention raises the degree of freedom with which a curved surface is created, and enables the accurate creation of a curved surface featuring subtle changes, allowing the precise machining of a three-dimensional body.

Abstract: A numerical control system for controlling a machine tool including a control device for controlling the machine tool; external portable storage device for storing data; a disabling device for disabling device for disabling the control device; a read/write device, operable when the external portable storage device is manually coupled thereto, for reading data from the external portable storage device and for writing data to the external portable storage device; and a determining device for determining whether the external portable storage device is coupled to the read/write device. The disabling device disables the control device when the determining device determines that the external portable storage devices not coupled to the read/write device.

Abstract: A digitizing control device for generating tracing data related to a shape of a model while a tracer head carries out a non-contact tracing of the model shape. The rotation of the tracer head (4) is controlled in accordance with the inclination of a model surface (6), and distance detectors (5a, 5b) measure the distances therefrom to the model surface (6). When the inclination of the model surface (6) is smaller than a reference angle, the control of the rotation of the tracer head (4) is prohibited, to thereby achieve a stable distance measurement, and accordingly, accurate tracing data can be generated by a non-contact tracing of the model surface.

Abstract: An involute interpolation speed control system for effecting an involute interpolation to which cutter compensation is applied when machining by a numerical control apparatus and the like, comprises a method of outputting commands for a direction in which a first involute curve as an actual machining configuration is rotated, the coordinates of the end point of the first involute curve, the position of the center of a basic circle viewed from a start point of the first involute curve, the radius of the basic circle, a feed speed, a direction in which a cutter is offset, and the radius of the cutter. The offset vector of the cutter is created based on the commands. The calculating the equation of a second involute curve connecting the start point and the end point after the offset vector has been created, is calculated. The radius of curvature of the second involute curve at the center of the cutter is determined.

Abstract: A plurality of individual positions arranged on a surface area are toured. The individual positions are grouped such that each group occupies a continuous partial area in the positioning plane. The groups are ordered so that the partial areas adjoin each other, forming in their totality a geometrical coarse structure. The individual positions are continuously indexed such that their sequence follows the geometrical coarse structure. The indexing of the individual positions is altered in sections such that the time required for sequentially touring all the individual positions of a section is minimized.

Abstract: A servo motor control device includes a commanding section for outputting a move command signal to drive and control a plurality of servo motors. An interpolating section is provided for performing interpolation based on the move command signal output by the commanding section, and for outputting an interpolating signal based on that interpolation. The interpolating section is capable of performing circular arc interpolation when the commanding section outputs a circular arc move command signal. A distributing section outputs distribution pulse trains into each of the servo motors based upon the interpolating signal output by the interpolating section and an acceleration and deceleration time constant which is also received by the distributing section. The value of the acceleration and deceleration time constant is determined and adjusted by an acceleration and deceleration time constant determining section. The value of the acceleration and deceleration time constant is set to a predetermined initial value.

Abstract: A tracing control system for machining a workpiece through tracing by calculating speed command values of respective axes, using change amounts detected by a tracer head, and moving a cutter relative to the workpiece through control of the speed of the respective axes in accordance with the speed command values. The system is provided with calculating means for calculating predetermined values in proportion to amounts of change in the speed command values of the respective axes, and a U-axis motor and a W-axis motor for moving only a model in parallel with the above respective axes by amounts corresponding to the respective predetermined values. A sub-table, on which only the model is placed is provided on a main table of a tracing machine tool, is moved in the same direction as the direction of movement of the main table, by an amount proportional to the amounts of change in the speed command values, for example, the amounts of delay in the reactions of the servo systems.

Abstract: A prompt (MEQ) which indicates whether a machining end-point is (i) a point which coincides with a machining starting point, (ii) a point a predetermined amount .DELTA..alpha. past the machining starting point, or (iii) a point a predetermined amount .DELTA..alpha. short of the machining starting point is included on a dialog screen (DIM) and machining end-point information is entered from a keyboard (12). In response, a processor (11a) of a system main body (11) automatically computes coordinates of the machining from the machining end-point information, the machining starting point and path data, and creates NC data for arriving at the machining end-point along a path specified by the path data.

Abstract: When an NC data output format is to be set, the NC data output format is expressed using characters or symbols, the NC data output format is entered from an operators's panel (19) using the characters or symbols, the characters or symbols of the entered NC data output format are converted into internal codes and the NC data output format is set in a RAM (14). When the NC data output format is to be revised, the NC data output format stored in the RAM (14) is converted from the internal codes to characters or symbols and displayed on a display unit (16), a location to be revised is designated and the location is revised by characters or symbols, and the revised NC data output format is converted into internal codes.

Abstract: In a machine tool having a table adapted to support a workpiece, a plurality of drive shafts for moving the table in three directional directions by servomotors, servo control apparatus controlling the servomotors in response to position instructions, drive shaft control apparatus including position detectors of the servomotors, each drive shaft control apparatus is made up of a servomotor rotation reversal detector for producing a movement reversal signal, a memory device for storing correction amounts necessary to compensate for a position error of the axis of the spindle of the machine tool which occurs as a result of reversal of the direction of movement of the drive shaft and other drive shafts and a transfer switches for selecting the memory device in response to the movement reversal signal and for feeding back to the servo control apparatus the correction amount read out from the memory device.

Abstract: An NC program drawing method for an interactive numerical control device is provided, in which an NC program is represented by a composite drawing composed of a solid drawing (1a, 1b, 1c) and a wire frame drawing (1d, 1e), whereby the drawing of machining profiles and tool paths, etc., can be processed in a short time and the machining profiles can be easily recognized, thus facilitating the creation of machining programs. According to a preferred mode of carrying out the invention, simple surfaces and the like are drawn by the solid drawing method (1a, 1b, 1c), and complicated profiles (1d, 1e) and tool paths, etc., are drawn by the wire frame drawing method.

Abstract: A grinder robot having a grinder can be operated by both of a force control and a position control to grind a workpiece surface quickly and acccurately. When the grinder has not reached a target grinding point position to finish grindings, force loop drive control means are selected to drive the grinder in order to grind a work by a force control. After a grinding point ground by the grinder has reached the target position, then, position drive control means are selected to drive the grinder by a position control in order to execute precise grindings. A grinding amount in every grinding in a force control area is relatively large and a grinding speed in every grinding in a position control area is relatively fast. As a result, a workpiece can be ground quickly and accurately by the grinder robot.

Abstract: A tracing control system for machining a workpiece through tracing by calculating speed commands of respective axes, using change amounts detected by a tracer head, and by moving a cutter relative to the workpiece through a control of the speed of the respective axes in accordance with the speed commands. First delay speed commands are obtained from the speed commands (Vx, Vz) at delay circuits (14a, 14c), respectively, and second delay speed commands are obtained at second delay circuits (14b, 14d), respectively, the differences between the first delay speed commands and the above second delay speed commands are calculated, and an X-axis main motor and a Z-axis main motor are driven in accordance with the first delay speed commands, and an X-axis sub-motor and a Z-axis sub-motor are driven in accordance with the calculated differences, thereby move the tracer head.

Abstract: A numerical control (NC) device 10 for a machine tool 1 provided with a measurement probe 2b effects measurements of a work 4 on the machine table 5 after a working process. A measurement program, generated by the NC device by modifying a working program, controls the relative movement of the probe 2b with respect to the workpiece 4 such that the probe 2b moves along the contour of the worked portion of the workpiece 4 with a displacement from the neutral position thereof, wherein the displacement of the probe is sampled at a predetermined sampling period. A working error calculation program 17 calculates the working error from the sampled displacements. If the working error is judged correctable, a outside tolerance range and correction re-working is effected so as to reduce the working error. The measurement/re-working cycles are repeated until the working error is within tolerance.

Abstract: An involute interpolation error correction system for correcting an error attributable to an involute interpolation of a numerical control device or the like. When machining is effected in accordance with a command for an involute curve (In1), a bite is produced in an actual work shape in the vicinity of a basic circle (C). The start point (Ps3) of this bite, the radius (Rs) from the basic circle (C) and an error amount (De) in the normal direction of the bite are obtained from the work shape, and this data is set as parameters in the numerical control device. The numerical control device allows a cutting along the involute curve (In1) up to the point Ps3, and then cuts along an involute curve (In3) having an end point which is deviated from the point Ps3 by the error amount (De) in the normal direction, whereby a bite-free involute curve machining can be effected.

Abstract: An involute interpolation speed control method controls a machining speed during a numerical control machining process with involute curve interpolation. A radius of curvature is determined from equations of the involute curve (S3), and whether said radius of curvature is smaller than a predetermined value is then determined (S4). The machining speed is reduced with an override value if the radius of curvature is smaller than the predetermined value (S5, S6, S7). In the vicinity of a base circle for the involute curve, since the radius of curvature is small, any well machined surface would not be produced at a given tangential speed. Therefore, the machining speed is reduced with the override value in the vicinity of the base circle.

Abstract: A numerical control apparatus is characterized by a structure in which: a machining program stores the final shape of a work as well as the shape of a material; designates the outermost point (an apex) on the work in a direction opposing a cutting direction as a cutting reference point; sets linear lines which are respectively lowered from the cutting reference point by cutting depths, and obtains the inter-sections of the lines and the material shape. The intersections thus obtained are classified into points where the tool enters the work zone and points where the tool emerges from the work zone, so that the tool can be moved at a predetermined cutting rate for a cutting operation between the point where it enters and the point where it emerges from the work zone while it is moved at a rapid traverse rate between the emerging point and the point where it re-enters the work zone.

Abstract: The elongated edge of a workpiece is machined to preselected dimensions and tolerances using a numerically controlled machining system by probing the surface of the workpiece along the length of the edge to be machined to determine edge dimensions and/or its actual position and orientation at such preselected locations relative to a cutting tool holder and to the workpiece fixture, and generating and storing data indicative thereof, and machining the edge of the workpiece under the direction of a machine program which accesses that data and other known preselected part design data which has been stored and causes a cutting tool to follow the actual edge of the part, cutting the edge to preselected dimensions as the cutting tool travels relative thereto, the workpiece and the cutting tool being reoriented relative to each other as the tool being reoriented relative to each other as the tool moves along the edge to maintain the tool in appropriate angular and positional relation to the workpiece over the length

Abstract: A method of correcting and playing back positional instruction data in a robot which performs the teaching by moving an arm or wrist axis constituting a robot body and recording its locus at intervals of a predetermined time or a predetermined moving distance corrects positional data recorded after the completion of the teaching onto a predetermined pattern such as a straight line or a circular arc and plays back the corrected positional data. Further, the method corrects the positional data onto the predetermined pattern before the beginning of the playback previously and records the corrected data.

Abstract: A numerically controlled apparatus wherein a tool can be returned by a high speed retrograding operation without damaging a chip of a tool or a work. The numerically controlled apparatus comprises a command executing block which decodes a working program for each of block commands and controls controlling driving of a tool to work a work. A retrograde command storage block extracts data necessary for the production of a retrograde block command from the working program and stores the extracted data therein. Upon reception of a retrograding signal, an escapement command producing block produces an escapement block command, and a retrograde block command producing means produces a retrograde block command. Then, an escapement/retrograde command execution controlling block causes the command executing block to execute the escapement block command and the retrograde block command.

Abstract: A tracking control robot controls its arm end, which holds a tool, to track a taught path so that a reaction force between a workpiece and the tool remains constant. An ideal state for the arm end is determined from the present state of the arm end and the difference between the actual reaction force and a predetermined target force. Then, this ideal state is compared with a reference state of the arm end on the taught path to obtain a target position and a target attitude of the arm end. Since a target position is always determined independently of the last target position, no position error due to time delay affects a new target position even when the next target position is generated before the tool reaches the last target position. Thus, the robot is quick, responsive, and accurate when tracking at a constant operation speed.

Abstract: An involute interpolation method is provided for machining operations in a numerical control apparatus, in which a rotational direction of an involute curve, a center position of a base circle (C), and a radius (R) of the base circle (C) are instructed, and an interpolation is performed with respect to an involute curve having a start point (P.sub.s) on a first involute curve (IC1) and an end point (P.sub.e) on a second involute curve (IC2). According to such a method, machining operations can be done by the use of a specifically configured involute curve which is distinct from the two involute curves.

Abstract: To avoid variation between the resultant paths of multiaxis motions of a machine element for different override curves, distance-time curves of the axis motions are stored for an override value of 100%, and a relevant distance-time curve is subjected, in synchronism with a time sequence of selectively varied override values for each axis, to a time expansion which is inversely proportional to the respective override value.

Abstract: Data for specifying each three-dimensional curved surface (12a, 12b, 12c) constituting a complex curved surface (11, FIG. 1) are inputted, and one curve (CV) on the X-Y plane is specified. The curve CV comprises two or more elements (CV1-CV4). The complex curved surface (11) is intersected by planes or sections (SSi) extending from lines of reference (elements CV.sub.1, CV.sub.2 . . . ) on the X-T plane that are i-th (i=1, 2, . . . ) elements (CV.sub.2, CV.sub.2 . . . ) (CVi) in the clockwise or counter-clockwise direction among a number of elements constituting the curve (CV). Thereafter, a cutting path is generated by adopting a path (SC1.fwdarw.SC2.fwdarw.SC3.fwdarw.SC4) for moving a tool along the section curves formed by intersections between each plane or section SSi and surfaces of the complex curved surface, each section curve corresponding to the above-mentioned elements in the order of the elements.

Abstract: A position control method for controlling a position of an object on a machine tool such as a lathe having a plurality of axes. The control on one of the axes is conducted in accordance with a control input signal which is generated in response to a position command signal and a state variable for each axis so as to optimize an evaluation function J, wherein the control input signal U.sub.i is generated so as to optimize the evaluation function in such a manner as to reduce path error by taking into account not only the position command signal and the state variable concerning this axes but also the position command signal and the state variable concerning another axis.

Abstract: A numerical control equipment comprises a control section for applying to a drive motor for driving a table on which an object under measurement is placed a movement instruction for moving said object to a theoretical position, a position register for receiving a detection signal outputted by a position sensor adapted to detect the position of the table, a memory unit for storing instruction data separately according to functions and uses, and a measuring head for measuring the difference between the stop position of the object and a reference position simultaneously with positioning of the object to the theoretical position, wherein said control unit operates a measurement value provided by the measuring head and a register value of the position register and rewrites the contents of addresses provided separately according to functions and uses in the memory unit with an operated value as a measurement result.